time dcm_x dcm_y dcm_des_x dcm_des_y dcm_des_dx dcm_des_dy zmp_x zmp_y zmp_des_x zmp_des_y com_x com_y com_z com_des_x com_des_y com_des_z com_des_dx com_des_dy com_des_dz lf_x lf_y lf_z lf_roll lf_pitch lf_yaw rf_x rf_y rf_z rf_roll rf_pitch rf_yaw lf_des_x lf_des_y lf_des_z lf_des_roll lf_des_pitch lf_des_yaw rf_des_x rf_des_y rf_des_z rf_des_roll rf_des_pitch rf_des_yaw LHipYawPitch RHipYawPitch LShoulderPitch LShoulderRoll LElbowYaw LElbowRoll RShoulderPitch RShoulderRoll RElbowYaw RElbowRoll LHipPitch LHipRoll LKneePitch LAnklePitch LAnkleRoll RHipPitch RHipRoll RKneePitch RAnklePitch RAnkleRoll LHipYawPitch_des RHipYawPitch_des LShoulderPitch_des LShoulderRoll_des LElbowYaw_des LElbowRoll_des RShoulderPitch_des RShoulderRoll_des RElbowYaw_des RElbowRoll_des LHipPitch_des LHipRoll_des LKneePitch_des LAnklePitch_des LAnkleRoll_des RHipPitch_des RHipRoll_des RKneePitch_des RAnklePitch_des RAnkleRoll_des frx fry frz mrx mry mrz flx fly flz mlx mly mlz POS_X POS_Y CONTROL_ORDER trash e0 u0 abs_CoM_x abs_CoM_y abs_CoM_z 0.015 0.0117756 -0.000997656 -0.001 0 0 0 -0.0112322 0.000244063 0.0130532 -0.00109742 -0.0024682 -4.60743e-05 0.251872 -0.001 0 0.25187 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 4.84567e-05 -0.044995 1.6342e-05 -1.00305e-05 -9.17343e-05 0.000186777 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00391168 0.00362229 1.46656 0.104816 -0.959029 -0.0921673 1.46655 -0.104675 0.958994 0.0922064 -0.506925 -0.0254456 0.54592 -0.138813 0.0254937 -0.507219 0.0259148 0.546636 -0.139123 -0.0261448 0.00394134 0.0039148 1.46703 0.106984 -0.959083 -0.0924462 1.46703 -0.10684 0.95908 0.0924865 -0.503595 -0.0254025 0.534341 -0.138838 0.0254746 -0.503664 0.0258071 0.534536 -0.138947 -0.0260277 2.73162 3.02598 32.7084 -0.283989 0.527508 -0.0424548 2.99749 -3.01437 33.7025 0.255398 0.220073 0.0327314 0 0 0 0 0.000117905 0.000137579 0.00974887 0.000121019 0.240198 0.025 0.0118074 -0.00102223 -0.001 0 0 0 -0.0106984 0.000187829 0.0130881 -0.00112445 -0.00246336 -4.66909e-05 0.251871 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0.0257881 0.539938 -0.138651 -0.025972 0.00377621 0.00375374 1.46636 0.112841 -0.959173 -0.0926061 1.46636 -0.112724 0.95917 0.0926391 -0.500247 -0.0254286 0.538928 -0.142215 0.0254906 -0.500314 0.0258306 0.539113 -0.142317 -0.0260368 3.65813 3.11393 33.0016 -0.46352 0.434811 0.0541844 3.23879 -2.87182 33.9818 0.184245 0.521643 -0.02799 0 0 0 0 -0.422024 -0.471033 -0.00956388 0.000550589 0.221422 0.055 -0.0197164 -4.73331e-05 -0.001 0 0 0 -0.0169068 -0.00378685 -0.0215881 -5.20664e-05 -0.00243915 -1.34528e-05 0.251831 -0.001 0 0.25187 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.0011087 -0.0449681 -0.00026635 6.17959e-05 0.00292167 0.00010938 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0036442 0.00360046 1.46674 0.109528 -0.959067 -0.0921952 1.4667 -0.109032 0.959032 0.0923367 -0.50472 -0.0255814 0.547893 -0.141741 0.0256629 -0.496951 0.0259047 0.542797 -0.141461 -0.0260092 0.00372688 0.00374163 1.46608 0.114483 -0.959199 -0.0926875 1.46608 -0.114425 0.959197 0.0927082 -0.498997 -0.025272 0.54063 -0.144297 0.0252715 -0.499163 0.0259962 0.540954 -0.144467 -0.0262605 4.45272 3.01422 33.0938 -0.396506 0.611118 0.0437208 3.68274 -2.79681 34.0855 0.096493 0.488026 -0.0909904 0 0 0 0 -0.421989 -0.462952 -0.00947509 0.000563393 0.221423 0.065 -0.0188448 -0.000945893 -0.001 0 0 0 -0.0213217 -0.00271774 -0.0206293 -0.00104048 -0.00228648 -1.96205e-05 0.251817 -0.001 0 0.25187 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000966196 -0.0449604 -0.000270339 0.000117715 0.00263624 8.79172e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00361573 0.00351772 1.46644 0.111414 -0.959073 -0.0922162 1.46662 -0.110981 0.959053 0.0922847 -0.50345 -0.0254452 0.550828 -0.144641 0.0255885 -0.495773 0.0260874 0.544732 -0.143518 -0.0260664 0.00367593 0.00371724 1.46586 0.116068 -0.959222 -0.0927507 1.46586 -0.116054 0.959222 0.0927621 -0.497832 -0.0251571 0.542134 -0.145906 0.0251093 -0.498069 0.026122 0.542561 -0.146126 -0.0264283 5.27477 2.77035 33.2452 -0.371588 0.795921 0.0284628 4.64621 -2.91369 34.0414 0.151647 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-0.000888775 -0.00163514 -8.22298e-05 0.252017 -0.001 0 0.25187 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000283265 -0.0450065 -3.2831e-05 -0.000163631 0.00250745 0.000119295 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00361725 0.00340061 1.46564 0.11475 -0.959129 -0.0924339 1.46582 -0.11452 0.959114 0.0924475 -0.494913 -0.0251527 0.547353 -0.147867 0.0252053 -0.49364 0.0261861 0.547029 -0.146158 -0.0265303 0.00356459 0.0036121 1.46568 0.119147 -0.959267 -0.0928045 1.46568 -0.119152 0.959267 0.092811 -0.495901 -0.0251274 0.544392 -0.147075 0.0250576 -0.496158 0.0261829 0.544848 -0.14731 -0.0264958 5.9972 2.5933 33.6429 -0.425858 0.973565 0.0267964 6.60137 -3.40196 33.2071 0.249262 0.965462 -0.036718 0 0 0 0 -0.429365 -0.454599 -0.00928647 0.000491702 0.22141 0.095 -0.000229071 1.38714e-06 -0.001 0 0 0 -0.0293581 -0.00643806 -0.000151978 1.52586e-06 -0.00197604 -0.000112556 0.252015 -0.001 0 0.25187 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000288176 -0.0449908 -3.33123e-05 -6.01103e-05 0.00113572 0.000122665 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0035196 0.00338475 1.46551 0.116335 -0.959198 -0.0924599 1.46549 -0.116143 0.959128 0.0925122 -0.493857 -0.0252301 0.547734 -0.146832 0.0250824 -0.492791 0.0261815 0.548339 -0.147272 -0.0266146 0.00347285 0.00355444 1.46573 0.120625 -0.959286 -0.0927985 1.46573 -0.120689 0.959289 0.0927929 -0.495099 -0.024959 0.544957 -0.146347 0.0248172 -0.49546 0.0263725 0.545567 -0.146658 -0.0267472 5.18669 2.82017 33.8767 -0.546016 0.845566 0.0678742 6.29624 -3.20452 32.9963 0.154892 1.108 -0.0341734 0 0 0 0 -0.426408 -0.447128 -0.00924487 0.000461675 0.221411 0.105 -0.00856761 0.0010175 -0.001 0 0 0 -0.0258279 -0.00642448 -0.00932437 0.00111925 -0.0020418 -0.000118494 0.252021 -0.001 0 0.25187 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000215524 -0.0449461 -3.17304e-05 7.13107e-05 0.000918334 7.24222e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.0034165 0.00336824 1.46532 0.117928 -0.959204 -0.0924899 1.46537 -0.117698 0.959162 0.0925385 -0.492889 -0.0252426 0.54817 -0.147052 0.0250306 -0.492184 0.0263865 0.548685 -0.147323 -0.0267439 0.00338079 0.00351987 1.46574 0.121969 -0.959304 -0.092809 1.46574 -0.122129 0.959309 0.0927839 -0.494216 -0.0246655 0.54558 -0.14607 0.0244057 -0.494752 0.0266838 0.546454 -0.14651 -0.0271679 3.98847 2.88093 34.0608 -0.599226 0.682304 0.128715 5.04536 -3.13445 33.0149 0.213579 1.04282 -0.0795653 0 0 0 0 -0.42523 -0.442498 -0.00927661 0.000459185 0.221411 0.115 -0.0130224 0.000921689 -0.001 0 0 0 -0.0205128 -0.00116034 -0.0142247 0.00101386 -0.00216548 -0.000139176 0.252041 -0.001 0 0.25187 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000198387 -0.04493 -2.21097e-05 8.72056e-05 0.000908732 4.35874e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00331853 0.00336491 1.46518 0.119456 -0.959223 -0.0925256 1.46522 -0.119228 0.9592 0.0925844 -0.492094 -0.0249725 0.547797 -0.146462 0.0248277 -0.491509 0.0267467 0.54823 -0.146608 -0.0270141 0.00331546 0.00348984 1.46569 0.123198 -0.95932 -0.0928354 1.46569 -0.123419 0.959327 0.0927977 -0.493289 -0.0244668 0.546451 -0.146527 0.0241279 -0.49394 0.0268956 0.547499 -0.147054 -0.0274525 3.25144 2.56411 34.1682 -0.468309 0.54742 0.177095 4.2541 -3.39159 33.1634 0.43303 0.826983 -0.144044 0 0 0 0 -0.424884 -0.439429 -0.00940176 0.000461993 0.221422 0.125 -0.0119477 -0.000532015 -0.001 0 0 0 -0.0172571 0.00325671 -0.0130425 -0.000585217 -0.00229151 -0.000187474 0.252059 -0.001 0 0.25187 -0 -0 0 0 0.045 6.93889e-18 0 -0 0 -0.000289132 -0.0449715 -4.90241e-06 -6.02952e-05 0.0013477 4.57723e-05 0 0.045 0 0 -0 0 0 -0.045 0 0 -0 0 0.00322142 0.00335037 1.46529 0.120824 -0.959237 -0.0925028 1.46527 -0.120715 0.959223 0.0925586 -0.491246 -0.0245597 0.547627 -0.146081 0.0244854 -0.49066 0.0269887 0.548636 -0.146424 -0.0273269 0.00328623 0.00344218 1.46562 0.124368 -0.959336 -0.0928628 1.46562 -0.124564 0.959343 0.0928299 -0.492417 -0.0245293 0.547541 -0.147427 0.0242134 -0.493021 0.0268435 0.548525 -0.147924 -0.0273722 3.13152 2.16444 34.2562 -0.359796 0.441182 0.232565 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